Lane change system for platoon of vehicles

ABSTRACT

A platoon control system includes a platoon control in communication with a plurality of individual platoon vehicle controls associated with respective platoon vehicles of a platoon of vehicles traveling along an initial traffic lane. The platoon control determines if there is sufficient clearance in another lane for the platoon of vehicles. Responsive to the platoon control, the individual platoon vehicle controls control the respective platoon vehicles to maneuver the platoon vehicles from the initial traffic lane to the other lane in a manner that limits or substantially precludes other vehicles from interrupting the platoon of vehicles. Responsive to the platoon control, the individual platoon vehicle controls control the respective platoon vehicles to allow a new platoon vehicle to enter the platoon of vehicles and/or to regroup following departure of a platoon vehicle from the platoon of vehicles.

CROSS REFERENCE TO RELATED APPLICATIONS

The present application is a continuation of U.S. patent applicationSer. No. 15/203,840, filed Jul. 7, 2016, now U.S. Pat. No. 10,115,314,which claims the filing benefits of U.S. provisional application Ser.No. 62/189,962, filed Jul. 8, 2015, which is hereby incorporated hereinby reference in its entirety.

FIELD OF THE INVENTION

The present invention relates generally to a vehicle control system and,more particularly, to a vehicle control system for a platoon of vehiclestraveling together.

BACKGROUND OF THE INVENTION

Platooning of vehicles is known, such as by using vehicle-to-vehicle(V2V) communications. Cooperative maneuvering of the platooned vehiclesis also known. Communication systems for vehicles may provide forcommunication between vehicles and/or between a vehicle and a remoteserver. Such car2car or V2V and car2X or V2X technology provides forcommunication between vehicles based on information provided by one ormore vehicles and/or information provided by a remote server or thelike. Examples of such systems are described in U.S. Pat. No. 7,580,795and/or U.S. Publication Nos. US-2012-0218412 and/or US-2012-0062743,which are hereby incorporated herein by reference in their entireties.

SUMMARY OF THE INVENTION

The present invention provides a vehicle control system that, such asresponsive to a determination of a vehicle or obstacle in a lane aheadof a platoon of vehicles, controls the platoon vehicles of the platoonof vehicles to change the lane of all of the platoon vehicles to anotherlane in a manner that limits or substantially precludes other vehiclesfrom interrupting the platoon of vehicles. The control system controlsthe platoon vehicles so that the last vehicle of the platoon enters theother lane first (when traffic clears) and then the vehicles of theplatoon enter the other lane ahead of the last vehicle in a controlledmanner. The control system includes a central or platoon control thatdetermines the lane change parameters (such as responsive to sensors ofthe platoon vehicles or the like) and communicates control signals toindividual vehicle controls of the respective platoon vehicles of theplatoon of vehicles, whereby the individual vehicle controlscooperatively control the respective platoon vehicles to maneuver theplatoon of vehicles into another traffic lane in a predeterminedcontrolled manner.

Optionally, the control system may control the platoon vehicles so thatthe platoon vehicles enter the other lane in order from the last platoonvehicle in line (which is the first platoon vehicle to change lanes) tothe first platoon vehicle in line. The vehicles may decelerate togetherto allow traffic in the other lane (ahead of the last platoon vehicle inline after that platoon vehicle has changed lanes) to pass the platoonvehicles.

Optionally, the control system may control the platoon vehicles so thatthe platoon vehicles enter the other lane in a different order than theywere in the initial lane of travel. For example, the last platoonvehicle in line (which is the first platoon vehicle to change lanes) andone or more platoon vehicles immediately ahead of the last platoonvehicle may enter the other lane (when traffic allows it) and then theone or more platoon vehicles ahead of the last platoon vehicle increasetheir speeds relative to the last platoon vehicle in line (or the lastplatoon vehicle may decrease its speed) to make sufficient space betweenthe platoon vehicles so that other platoon vehicles still in the initiallane may enter the other lane between adjacent spaced apart platoonvehicles. The vehicles may adjust their speeds in a coordinated mannerto allow traffic in the other lane (ahead of the last platoon vehicle inline after that platoon vehicle has changed lanes) to pass the platoonvehicles and to align the platoon vehicles in the initial lane withrespective gaps between the platoon vehicles that have moved into theother lane.

These and other objects, advantages, purposes and features of thepresent invention will become apparent upon review of the followingspecification in conjunction with the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a plan view of a platoon of vehicles that are controlled via acontrol system in accordance with the present invention, showing thatthe lead vehicle may determine the presence of an obstacle ahead via along range sensor of the lead vehicle;

FIG. 2 is a plan view of a platoon of vehicles that are controlled via acontrol system in accordance with the present invention, showing thatthe lead vehicle may be alerted to the presence of an obstacle ahead viaa communication from another vehicle;

FIGS. 3-19 are plan views showing a control template of the platooncontrol system of the present invention; and

FIGS. 20-36 are plan views showing another control template of theplatoon control system of the present invention.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

The goal of an adaptive cruise control (ACC) automated platoon formationis to hold the platoon together, without having gaps or notparticipating vehicles enclosed within or between the platoon members.It is desired that the speed of all of the vehicles in the platoon orpeloton convoy be kept relatively constant and the deceleration andacceleration actions be kept low and the distance (or time gap) betweenthe platoon participating vehicles be kept minimal, so that the fuelconsumption over all vehicles is kept at a reduced or minimal level.

It is also desired that just the driver of the leading vehicle needs tobe attentive to traffic conditions while the other drivers of theplatoon vehicles can stay inattentive to the traffic. Since naturallythe platoon is moving between other traffic participants (such as, forexample, a truck platoon on a highway moves in between cars and othernot participating trucks) the platoon control has to respect the othervehicles and has to consider their potential driving behavior andmaneuvers. Control wise these may be to be seen as disturbancevariables, in worst case behaving randomly.

The probable case is that other traffic participants have an interest todrive smoothly and want to advance by themselves. Since at least someother vehicles may be driven manually by human, not always optimal,rational or more or less jumpy or spontaneous behavior, or reactions totraffic situations may be produced by the human drivers. Sometimes suchactions are caused by being inattentive, unexperienced, demented,intoxicated or being handicapped in any way or just for fun. Theweakness of advanced automated, semi-automated vehicle control ordriving aid/assistance systems (ADAS) is that they typically lack orhave too slow data processing and low conception since the sensors areless universally usable as the conception of an attentive, experiencedhuman drivers. Particularly, the conception of the higher context of atraffic scene is difficult to grasp by sensor data conception algorithmof ADAS. Due to that, the usage of driving scene or traffic situationtemplates or patterns which lead to driving strategy templates, patternsor models possibly inspired by the driving behavior (or pattern) ofreasonable, experienced human drivers, is more successful nowadays thanhaving an algorithm which is freely drafting a driving strategy upon anemerging traffic situation.

In accordance with the present invention, driving strategy templates ofan (already connected) platoon of vehicles driving on a highway likescene are described below. The scenarios are based on the situationsshown in FIGS. 1 and 2, where the platoon of vehicles (such as a line offive trucks) is driving along a highway in the right side traffic laneand is approaching an obstacle (such as a slowly traveling vehicle orother obstacle) in the right lane and thus in the eventual path oftravel of the convoy. As shown in FIG. 1, the lead vehicle of theplatoon may detect the object (such as via long range sensing, such asvia a vision-based sensing system or radar sensing system or LIDARsensing system or the like), whereby the vehicles in the platoondetermine the presence of another vehicle or vehicles in the left sidetraffic lane at or near the platoon. Optionally, and such as shown inFIG. 2, the presence of the obstacle may be determined by a non-platoonvehicle (such as via a short range sensing system), whereby thedetection of the obstacle is communicated to the lead platoon vehicle(such as via a V2V communication link or the like), and the informationis also communicated to the other vehicles of the platoon, whereby thevehicles in the platoon determine the presence of another vehicle orvehicles in the left side lane at or near the platoon.

In an exemplary case shown in FIGS. 3 to 19 of the platoon drivingstrategy template, the platoon is moving at the right lane of a straighttwo lane (right hand traffic) highway approaching a steady, distantobstacle blocking the right lane (in general this will be a template foran ending lane, whatever the reason for that ending may be), while theleft lane is clear beside some other traffic participants. The task isthat the platoon changes into the left lane (fast traffic lane) to passthe blockage, without being cut-off or interrupted by enclosing foreign,non-platoon participating vehicles. It may be assumed that it is knownthat the distant object blocks the right lane at a known distance ahead,by the platoon control. That information may come from platoon vehicleinherent environmental sensors, such as visual cameras, infraredcameras, time of flight sensors, structured light sensors, RADAR, LIDAR,ultrasound sensors or any other kind of ranging sensor such as shown inthe example of FIG. 1, having a long range with the sensor having thefield of sensing 1 comprising a rearwardly directed (center) camera, thesensors having the fields of sensing 2 comprising rearwardly directedside mirror cameras, the sensor having the field of sensing 3 comprisinga blind spot camera, the sensor having the field of sensing 4 comprisinga cross traffic camera, the sensor having the field of sensing 5comprising a forward vision driver assistance system camera and thesensor having the field of sensing 6 comprising a forwardly directedRADAR. Alternatively, that information may come from remote, such asfrom the obstacle itself (such as, for example, where the blockingobject is a broken down vehicle with remote data transmission capabilitymaintained such as by having an E-Call system in a car (such as byutilizing aspects of the systems described in U.S. patent applicationSer. No. 62/312,127, filed Mar. 23, 2016, which is hereby incorporatedherein by reference in its entirety) or the information may betransmitted by another vehicle (or more than one vehicle, optionallypartitionally sent by different peers (such as by utilizing aspects ofthe systems described in U.S. Publication No. US-2015-0344028, which ishereby incorporated herein by reference in its entirety) or infrastructure which detects the blockage by its own (inherent) sensors suchas shown in FIG. 2.

For keeping non-participating vehicles off the platoon (and not gettingbetween any two platoon vehicles), the last platoon vehicle (in theexample of FIG. 3-19 all platoon vehicles are trailer trucks, optionallythe platoon vehicle may be a mix of every kind of road vehicle) entersthe left lane first as soon the traffic clearance allows it (which maybe determined by a short range sensing system of the platoon vehicle,such as image-based sensors or ultrasonic sensors or RADAR or LIDARsensors or the like). At that time the other platoon vehicles wait untilthe space for entering the left lane in front the first platoon vehicle(which is already in the fast traffic lane or other lane) is clearedfrom non-participating vehicles (waiting for the other vehicles to leaveinto headway direction), which possibly drive faster since these were inthe fast traffic lane originally. As a result, the platoon can keep itsspeed steady and the drivers in the platoon do not need to interferewith the driving control of the platoon vehicles. Optionally, theleading platoon vehicle is driving autonomous or semi-autonomous withdriver surveillance or fully controlled by the driver. In all cases thelane change for the leading platoon vehicle may be controlledautomatically according to the suggested lane change pattern or the lanechange of the leading vehicle may be just aided by visual, audible orhaptic HMI so that the leading vehicle driver may be able to change thelane according the template maneuver as well.

For example, when it is desired for the platoon of vehicles to changelanes (such as responsive to a determination of an obstacle or slowervehicle ahead of and in the current or initial traffic lane of travel ofthe platoon of vehicles, or such as when the platoon of vehicles has tochange lanes to get into an exit lane or the like), the front vehiclesenses ahead and to the side to determine if any object or vehicle ispresent in the other traffic lane or target lane, while the rear vehiclesenses rearward and sideward to determine if there is a fast approachingvehicle in the other lane (or in the current or initial lane of travel),while the middle vehicle or vehicles sense sideward to determine ifthere are any other vehicles present in the other lane. When it isdetermined that the other lane is clear (at least clear in the region inwhich the platoon of vehicles will occupy), and if it is desired orappropriate for the platoon of vehicles to change lanes, the rearvehicle changes lanes first (FIGS. 5-7), followed by the nextrearward-most vehicle (FIGS. 7-10), and then followed by the nextrearward-most vehicle (FIGS. 9-13), and then followed by the nextrearward-most vehicle (FIGS. 12-15), which is the second vehicle in linein the illustrated example, and finally followed by the leading vehicle(FIGS. 15-18), whereby all of the vehicles of the platoon of vehicles(such as five vehicles in the illustrated example, but there may be moreor less vehicles in any given platoon of vehicles) are traveling in theother lane with no other vehicles in between the individual vehicles ofthe platoon of vehicles (FIG. 19).

For example, a four vehicle platoon (comprising a front vehicle, a rearvehicle and two middle vehicles between the front and rear vehicles) canbe travelling along the middle traffic lane of a three-lane highway.Each of the platoon vehicles is equipped with a plurality of sensors. Atthe front of each platoon vehicle, at least one forward and sidewardviewing vision-sensing camera captures image data of the exterior sceneand at least one non-vision sensor (such as a radar or a Lidar sensor)senses and captures sensor data of the scene forward and sideward of theequipped platoon vehicle. At the rear of each platoon vehicle, at leastone rearward and sideward viewing vision-sensing camera captures imagedata of the exterior scene and at least one non-vision sensor (such as aradar or a Lidar sensor) senses and captures sensor data of the scenerearward and sideward of the equipped platoon vehicle. Along both bodysides of each platoon vehicle (such as along the side of a cab ortrailer or the like of each platoon vehicle), at least one forward,rearward and sideward viewing vision-sensing camera captures image dataof the exterior scene and at least one non-vision sensor (such as aradar or a Lidar sensor) senses and captures sensor data of the sceneforward, rearward and sideward of the equipped platoon vehicle. Capturedimage data and sensor data from all such cameras and non-vision sensorsis fed to a central electronic control module or platoon control (suchas wirelessly fed or communicated between the platoon vehicles orlocated remotely via cloud-telematics communication or the like) wheresuch received image data is processed by an image processor, such as anEYEQ3 or EYEQ4 or EYEQ5 image processing chip (and associated imageprocessing algorithms) available from Mobileye N.V. of Jerusalem,Israel, and is combined/fused with received non-vision sensor data (suchradar or Lidar-generated distance data or time-of-flight data) todetermine that a lane change from the traffic lane currently beingtraveled by (or initially traveled by) the platoon of vehicles is safeand that other vehicles are not present in or soon to be present in thelane segment of an adjacent lane to which the platoon will move into.The central platoon control (which may be remotely located or may bedisposed at one of the platoon vehicles) communicates control signals tothe individual platoon vehicle controls of the respective individualplatoon vehicles, whereby the individual platoon vehicle controlscontrol the respective platoon vehicles to maneuver the platoon vehiclesin the desired or appropriate or predetermined manner, such as to changetraffic lanes to the other lane.

The individual platoon vehicles may be autonomously controlled orsemi-autonomously controlled. It is envisioned that, for use withtraffic lanes designated for autonomous vehicles only, platoons orconvoys of vehicles will travel autonomously together, with the speedssynchronized or controlled to provide a desired gap between the platoonvehicles. The platoon control system may provide individual control ofthe platoon vehicle controls to maintain the desired or appropriate gapor spacing, and may adjust control of one or more of the platoonvehicles when a change is made to the platoon. For example, if one ofthe platoon vehicles exits the autonomous traffic lane, the platoonvehicle control or controls may adjust the speed of one or more of theplatoon vehicles to close the gap caused by the exit of the one vehicle.Similarly, the platoon vehicle control or controls may adjust the speedof one or more of the platoon vehicles to create a gap to allow entryinto the platoon of vehicles of another vehicle entering the autonomoustraffic lane. The platoon control may determine the departure of aplatoon vehicle via a communication from the departing vehicle or viasensors of one or more of the remaining platoon vehicles. Optionally,the departing vehicle may depart the autonomous traffic lane responsiveto the current geographical location of the vehicle (such as responsiveto a GPS system or the like) and/or to a navigation system or the like,whereby the departing vehicle leaves the autonomous traffic lane(whereby the driver resumes at least partial control of the vehicle) asit approaches an exit or intersection or the like where it will turn orotherwise leave the platoon path. After the departure of the departingvehicle, the platoon of vehicles autonomously regroups and continues onits way.

Since it is important that the non-platoon vehicles on the second orleft or fast traffic lane do not overtake the other platoon vehicles inthe first or right or slow traffic lane so that it will not be necessaryfor the platoon vehicles which are still traveling in the right lane toengage a full stop in front of a road obstacle that the platoon isclosing at, another strategy to that described above (with respect toFIGS. 3-19) may be drawn, as shown in examples of FIGS. 20-36. In theillustrated example, at least two platoon vehicles enter the left lane(in the example of FIGS. 20-36, three of five platoon vehicles haveentered the left lane by FIG. 30). These vehicles continuously increasetheir distance (the leading left lane platoon vehicle or vehiclesincrease their speed and/or the trailing vehicle or vehicles decreasetheir speed) to generate gaps large enough for the platoon vehiclesremaining in the right lane to move into the gaps and thus into the leftlane.

While the platoon vehicles traveling in the left lane are generating thegaps, the right lane platoon vehicles may control their speed in a wayto position themselves in the heights of the gaps to be ready forentering when its gap has sufficiently opened (FIG. 34). Optionally, thegaps may be one at another (one big gap for more than one vehicle) oroptionally may be one be alternating one (left lane) platoonvehicle,—gap,—platoon vehicle. The latter option will allow the rightlane vehicles to enter in a zipper tooth like way such as shown in theexample of FIGS. 34 to 36.

Thus, the lane change and merging control template, such as shown inFIGS. 20-36, makes sure that the full platoon can change into the leftlane without getting cut off or interrupted by other vehicles andwithout the need that any of the platoon vehicles has to apply fullbraking in front of the lane blockage (or lane end).

The system in which the central or primary platoon control may beprocessed may be optionally the leading platoon vehicle or any othersingle platoon vehicle as a master vehicle. Optionally, the system mayrun on a cumulative group intelligence on several or all participatingvehicles, organized to exchange storing or processing tasks and resultsin a kind of cumulative cloud.

The platoon control may be separate or may incorporate an environmentalsensor processing and scene understanding (or determination,interpretation) system, optionally using a scene classificationalgorithm or the like, such as described in U.S. Publication No.US-2015-0344028, which is hereby incorporated herein by reference in itsentirety.

The platoon vehicles include respective ACC systems and sensors thatsense/determine the presence of other vehicles in the side lane adjacentto the traffic lane in which the platoon is initially traveling. Thesensors may comprise cameras or RADAR or LIDAR or ultrasonic sensors orthe like, whereby the ACC system (responsive to processing of sensordata) knows when it is safe to change lanes into the adjacent lane. Thesystem, responsive to the sensors and to the central platoon control,may control the steering and acceleration/deceleration (such as viacontrolling the engine and/or brake system) to maneuver the respectiveplatoon vehicle from an initial lane to another or target lane. Thesystem may also actuate a turn signal indicator of the respectiveplatoon vehicle to indicate to other vehicles on the road that therespective platoon vehicle is changing lanes.

The systems may communicate via a vehicle-to-vehicle communicationsystem or a vehicle-to-infrastructure communication system or the like.Such car2car or vehicle to vehicle (V2V) and vehicle-to-infrastructure(car2X or V2X or V2I or 4G or 5G) technology provides for communicationbetween vehicles and/or infrastructure based on information provided byone or more vehicles and/or information provided by a remote server orthe like. Such vehicle communication systems may utilize aspects of thesystems described in U.S. Pat. Nos. 6,690,268; 6,693,517 and/or7,580,795, and/or U.S. Publication Nos. US-2014-0375476;US-2014-0218529; US-2013-0222592; US-2012-0218412; US-2012-0062743;US-2015-0251599; US-2015-0158499: US-2015-0124096; US-2015-0352953and/or US-2016-0036917, and/or U.S. patent application Ser. No.14/996,570, filed Jan. 15, 2016, now U.S. Pat. No. 10,032,369, which arehereby incorporated herein by reference in their entireties.

The camera or sensor may comprise any suitable camera or sensor.Optionally, the camera may comprise a “smart camera” that includes theimaging sensor array and associated circuitry and image processingcircuitry and electrical connectors and the like as part of a cameramodule, such as by utilizing aspects of the vision systems described inInternational Publication Nos. WO 2013/081984 and/or WO 2013/081985,which are hereby incorporated herein by reference in their entireties.

The system includes an image processor operable to process image datacaptured by the camera or cameras, such as for detecting objects orother vehicles or pedestrians or the like in the field of view of one ormore of the cameras. For example, the image processor may comprise anEYEQ2 or EYEQ3 image processing chip available from Mobileye VisionTechnologies Ltd. of Jerusalem, Israel, and may include object detectionsoftware (such as the types described in U.S. Pat. Nos. 7,855,755;7,720,580 and/or 7,038,577, which are hereby incorporated herein byreference in their entireties), and may analyze image data to detectvehicles and/or other objects. Responsive to such image processing, andwhen an object or other vehicle is detected, the system may generate analert to the driver of the vehicle and/or may generate an overlay at thedisplayed image to highlight or enhance display of the detected objector vehicle, in order to enhance the driver's awareness of the detectedobject or vehicle or hazardous condition during a driving maneuver ofthe equipped vehicle.

The vehicle may include any type of sensor or sensors, such as imagingsensors or radar sensors or lidar sensors or ladar sensors or ultrasonicsensors or the like. The imaging sensor or camera may capture image datafor image processing and may comprise any suitable camera or sensingdevice, such as, for example, a two dimensional array of a plurality ofphotosensor elements arranged in at least 640 columns and 480 rows (atleast a 640×480 imaging array, such as a megapixel imaging array or thelike), with a respective lens focusing images onto respective portionsof the array. The photosensor array may comprise a plurality ofphotosensor elements arranged in a photosensor array having rows andcolumns. Preferably, the imaging array has at least 300,000 photosensorelements or pixels, more preferably at least 500,000 photosensorelements or pixels and more preferably at least 1 million photosensorelements or pixels. The imaging array may capture color image data, suchas via spectral filtering at the array, such as via an RGB (red, greenand blue) filter or via a red/red complement filter or such as via anRCC (red, clear, clear) filter or the like. The logic and controlcircuit of the imaging sensor may function in any known manner, and theimage processing and algorithmic processing may comprise any suitablemeans for processing the images and/or image data.

For example, the vision system and/or processing and/or camera and/orcircuitry may utilize aspects described in U.S. Pat. Nos. 8,694,224;7,005,974; 5,760,962; 5,877,897; 5,796,094; 5,949,331; 6,302,545;6,396,397; 6,498,620; 6,523,964; 6,611,202; 6,201,642; 6,690,268;6,717,610; 6,757,109; 6,802,617; 6,806,452; 6,822,563; 6,891,563;6,946,978; 7,859,565; 5,550,677; 5,670,935; 7,881,496; 7,720,580;7,038,577; 6,882,287; 5,929,786 and/or 5,786,772, and/or InternationalPublication Nos. WO 2011/028686; WO 2010/099416; WO 2012/061567; WO2012/068331; WO 2012/075250; WO 2012/103193; WO 2012/0116043; WO2012/0145313; WO 2012/0145501; WO 2012/145818; WO 2012/145822; WO2012/158167; WO 2012/075250; WO 2012/0116043; WO 2012/0145501; WO2012/154919; WO 2013/019707; WO 2013/016409; WO 2013/019795; WO2013/067083; WO 2013/070539; WO 2013/043661; WO 2013/048994; WO2013/063014, WO 2013/081984; WO 2013/081985; WO 2013/074604; WO2013/086249; WO 2013/103548; WO 2013/109869; WO 2013/123161; WO2013/126715; WO 2013/043661; WO 2013/158592 and/or WO 2014/204794, whichare all hereby incorporated herein by reference in their entireties. Thesystem may communicate with other communication systems via any suitablemeans, such as by utilizing aspects of the systems described inInternational Publication Nos. WO/2010/144900; WO 2013/043661 and/or WO2013/081985, and/or U.S. Publication No. US-2012-0062743, which arehereby incorporated herein by reference in their entireties.

The imaging device and control and image processor and any associatedillumination source, if applicable, may comprise any suitablecomponents, and may utilize aspects of the cameras (such as variousimaging sensors or imaging array sensors or cameras or the like, such asa CMOS imaging array sensor, a CCD sensor or other sensors or the like)and vision systems described in U.S. Pat. Nos. 5,760,962; 5,715,093;6,922,292; 6,757,109; 6,717,610; 6,590,719; 6,201,642; 5,796,094;6,559,435; 6,831,261; 6,822,563; 6,946,978; 7,720,580; 8,542,451;7,965,336; 7,480,149; 5,550,677; 5,877,897; 6,498,620; 5,670,935;5,796,094; 6,396,397; 6,806,452; 6,690,268; 7,005,974; 7,937,667;7,123,168; 7,004,606; 6,946,978; 7,038,577; 6,353,392; 6,320,176;6,313,454 and/or 6,824,281, and/or International Publication Nos. WO2009/036176; WO 2009/046268; WO 2010/099416; WO 2011/028686 and/or WO2013/016409, and/or U.S. Pat. Publication Nos. US 2010-0020170 and/orUS-2009-0244361, which are all hereby incorporated herein by referencein their entireties.

The camera module and circuit chip or board and imaging sensor may beimplemented and operated in connection with various vehicularvision-based systems, and/or may be operable utilizing the principles ofsuch other vehicular systems, such as a vehicle headlamp control system,such as the type disclosed in U.S. Pat. Nos. 5,796,094; 6,097,023;6,320,176; 6,559,435; 6,831,261; 7,004,606; 7,339,149 and/or 7,526,103,which are all hereby incorporated herein by reference in theirentireties, a rain sensor, such as the types disclosed in commonlyassigned U.S. Pat. Nos. 6,353,392; 6,313,454; 6,320,176 and/or7,480,149, which are hereby incorporated herein by reference in theirentireties, a vehicle vision system, such as a forwardly, sidewardly orrearwardly directed vehicle vision system utilizing principles disclosedin U.S. Pat. Nos. 5,550,677; 5,670,935; 5,760,962; 5,877,897; 5,949,331;6,222,447; 6,302,545; 6,396,397; 6,498,620; 6,523,964; 6,611,202;6,201,642; 6,690,268; 6,717,610; 6,757,109; 6,802,617; 6,806,452;6,822,563; 6,891,563; 6,946,978 and/or 7,859,565, which are all herebyincorporated herein by reference in their entireties, a trailer hitchingaid or tow check system, such as the type disclosed in U.S. Pat. No.7,005,974, which is hereby incorporated herein by reference in itsentirety, a reverse or sideward imaging system, such as for a lanechange assistance system or lane departure warning system or for a blindspot or object detection system, such as imaging or detection systems ofthe types disclosed in U.S. Pat. Nos. 7,881,496; 7,720,580; 7,038,577;5,929,786 and/or 5,786,772, which are hereby incorporated herein byreference in their entireties, a video device for internal cabinsurveillance and/or video telephone function, such as disclosed in U.S.Pat. Nos. 5,760,962; 5,877,897; 6,690,268 and/or 7,370,983, and/or U.S.Publication No. US-2006-0050018, which are hereby incorporated herein byreference in their entireties, a traffic sign recognition system, asystem for determining a distance to a leading or trailing vehicle orobject, such as a system utilizing the principles disclosed in U.S. Pat.Nos. 6,396,397 and/or 7,123,168, which are hereby incorporated herein byreference in their entireties, and/or the like.

Optionally, the vision system (utilizing the forward facing camera and arearward facing camera and other cameras disposed at the vehicle withexterior fields of view) may be part of or may provide a display of atop-down view or birds-eye view system of the vehicle or a surround viewat the vehicle, such as by utilizing aspects of the vision systemsdescribed in International Publication Nos. WO 2010/099416; WO2011/028686; WO 2012/075250; WO 2013/019795; WO 2012/075250; WO2012/145822; WO 2013/081985; WO 2013/086249 and/or WO 2013/109869,and/or U.S. Publication No. US-2012-0162427, which are herebyincorporated herein by reference in their entireties.

Changes and modifications in the specifically described embodiments canbe carried out without departing from the principles of the invention,which is intended to be limited only by the scope of the appendedclaims, as interpreted according to the principles of patent lawincluding the doctrine of equivalents.

1. A platoon control system for controlling a plurality of vehiclestraveling together as a platoon of vehicles, said platoon control systemcomprising: a platoon control in wireless communication with a pluralityof individual platoon vehicle controls; a platoon vehicle controldisposed at a respective platoon vehicle of a platoon of vehiclestraveling along an initial traffic lane; wherein the platoon of vehiclescomprises at least (i) a lead platoon vehicle, (ii) a middle platoonvehicle following the lead platoon vehicle and (iii) a last platoonvehicle following the middle platoon vehicle; wherein at least onesensor is disposed at each platoon vehicle of the platoon of vehiclesfor sensing a region of another traffic lane immediately adjacent to theinitial traffic lane to determine if another vehicle is present in theother traffic lane at or near the respective platoon vehicle; wherein,responsive to wireless communications from said individual platoonvehicle controls that are indicative of the at least one sensor disposedat the respective platoon vehicles sensing the region of the othertraffic lane, said platoon control determines if the platoon of vehiclescan change lane to the other traffic lane; wherein, responsive to saidplatoon control determining that the platoon of vehicles can change laneto the other traffic lane, said platoon control communicates controlsignals to said individual platoon vehicle controls; wherein, responsiveto the control signals communicated by said platoon control, saidindividual platoon vehicle controls control the respective platoonvehicles to maneuver the platoon vehicles from the initial traffic lanetraveled by the platoon of vehicles to the other traffic lane in amanner that limits other vehicles from interrupting the platoon ofvehicles; and wherein, responsive to wireless communication from theindividual platoon vehicle control of the middle platoon vehicle that isindicative of the middle platoon vehicle departing from the platoon ofvehicles, said platoon control communicates to the individual platoonvehicle controls of the remaining platoon vehicles and, responsive tothat communication from said platoon control, said individual platoonvehicle control of at least one of the remaining platoon vehiclescontrols the at least one respective platoon vehicle to regroup theplatoon of vehicles and close a gap caused by the departure of themiddle platoon vehicle.
 2. The platoon control system of claim 1,wherein, responsive to a wireless communication from another vehiclethat is approaching the platoon of vehicles to join the platoon ofvehicles, said platoon control communicates to the individual platoonvehicle controls of the respective platoon vehicles and, responsive tothat communication from said platoon control, said individual platoonvehicle controls of at least some of the platoon vehicles control therespective platoon vehicles to create a gap between two of the platoonvehicles to accommodate the other vehicle in the platoon of vehicles atthe gap.
 3. The platoon control system of claim 1, wherein the wirelesscommunications comprise cloud-telematics communications.
 4. The platooncontrol system of claim 1, wherein, responsive to a communication fromsaid platoon control, said individual platoon vehicle controls controlthe respective platoon vehicles so that the platoon vehicles enter theother traffic lane in order from the last platoon vehicle to the leadplatoon vehicle.
 5. The platoon control system of claim 4, wherein,responsive to a communication from said platoon control, said individualplatoon vehicle controls control the speeds of the respective platoonvehicles to decelerate together to allow traffic in the other trafficlane that is ahead of the last platoon vehicle after the last platoonvehicle has changed traffic lanes to pass the platoon vehicles.
 6. Theplatoon control system of claim 1, wherein, responsive to acommunication from said platoon control, said individual platoon vehiclecontrols control the respective platoon vehicles so that the lastplatoon vehicle of the platoon of vehicles enters the other traffic lanefirst and then the other platoon vehicles enter the other traffic laneahead of the last platoon vehicle in a predetermined controlled manner.7. The platoon control system of claim 1, wherein, responsive to acommunication from said platoon control, said individual platoon vehiclecontrols control the respective platoon vehicles so that the platoonvehicles enter the other traffic lane in a different order than theywere in the initial traffic lane.
 8. The platoon control system of claim7, wherein the middle platoon vehicle comprises a first middle platoonvehicle following the lead platoon vehicle when the platoon of vehiclesis traveling in the initial traffic lane, and wherein the platoon ofvehicles comprises (i) a second middle platoon vehicle following thefirst middle platoon vehicle when the platoon of vehicles is travelingin the initial traffic lane and (ii) a third middle platoon vehiclefollowing the second middle platoon vehicle, and wherein the lastplatoon vehicle follows the third middle platoon vehicle when theplatoon of vehicles is traveling in the initial traffic lane.
 9. Theplatoon control system of claim 8, wherein, responsive to acommunication from said platoon control, said individual platoon vehiclecontrols control the respective platoon vehicles so that the lastplatoon vehicle and one or more of the middle platoon vehicles ahead ofthe last platoon vehicle enter the other traffic lane, whereby thespeeds of the respective platoon vehicles are controlled to generategaps between the platoon vehicles that have moved into the other trafficlane and to align the platoon vehicles that are in the initial trafficlane with the gaps, and wherein, when the platoon vehicles in theinitial traffic lane are aligned with the gaps, said individual platoonvehicle controls of the respective platoon vehicles in the initialtraffic lane control those platoon vehicles to enter the other trafficlane in the gaps.
 10. The platoon control system of claim 9, whereinsaid individual platoon vehicle controls adjust the speeds of therespective platoon vehicles to allow traffic in the other traffic laneahead of the last platoon vehicle after the last platoon vehicle haschanged traffic lanes to pass the platoon vehicles and to align theplatoon vehicles remaining in the initial traffic lane with respectivegaps between the platoon vehicles that have moved into the other trafficlane.
 11. The platoon control system of claim 1, wherein, responsive toa communication from said platoon control, said individual platoonvehicle controls control the respective platoon vehicles to maneuver theplatoon vehicles to the other traffic lane responsive to a determinationof clearance in the other traffic lane as determined by a short rangesensing system of the respective platoon vehicles.
 12. The platooncontrol system of claim 1, wherein said individual platoon vehiclecontrols control the respective platoon vehicles to maneuver the platoonvehicles to the other traffic lane responsive to a determination of avehicle or obstacle in the initial traffic lane ahead of the platoon ofvehicles.
 13. The platoon control system of claim 12, wherein thedetermination of the vehicle or obstacle in the traffic lane ahead ofthe platoon of vehicles is responsive to at least one of (i) a longrange sensing system of the lead platoon vehicle and (ii) avehicle-to-vehicle communication system.
 14. The platoon control systemof claim 12, wherein the determination of the vehicle or obstacle in thetraffic lane ahead of the platoon of vehicles is made by said platooncontrol.
 15. The platoon control system of claim 1, wherein each of saidindividual platoon vehicle controls control (i) an accelerator of therespective platoon vehicle, (ii) steering of the respective platoonvehicle, (iii) a brake system of the respective platoon vehicle and (iv)a turn signal indicator of the respective platoon vehicle.
 16. Theplatoon control system of claim 1, wherein said platoon control isdisposed at one of the platoon vehicles.
 17. The platoon control systemof claim 1, wherein said platoon control comprises one of saidindividual platoon vehicle controls.
 18. A platoon control system forcontrolling a plurality of vehicles traveling together as a platoon ofvehicles, said platoon control system comprising: a platoon control inwireless communication with a plurality of individual platoon vehiclecontrols; a platoon vehicle control disposed at a respective platoonvehicle of a platoon of vehicles traveling along an initial trafficlane; wherein the platoon of vehicles comprises at least (i) a leadplatoon vehicle, (ii) a middle platoon vehicle following the leadplatoon vehicle and (iii) a last platoon vehicle following the middleplatoon vehicle; wherein at least one sensor is disposed at each platoonvehicle of the platoon of vehicles for sensing a region of anothertraffic lane immediately adjacent to the initial traffic lane todetermine if another vehicle is present in the other traffic lane at ornear the respective platoon vehicle; wherein, responsive to wirelesscommunications from said individual platoon vehicle controls that areindicative of the at least one sensor disposed at the respective platoonvehicles sensing the region of the other traffic lane, said platooncontrol determines if the platoon of vehicles can change lane to theother traffic lane; wherein, responsive to said platoon controldetermining that the platoon of vehicles can change lane to the othertraffic lane, said platoon control communicates control signals to saidindividual platoon vehicle controls; wherein, responsive to the controlsignals communicated by said platoon control, said individual platoonvehicle controls control the respective platoon vehicles to maneuver theplatoon vehicles from the initial traffic lane traveled by the platoonof vehicles to the other traffic lane in a manner that limits othervehicles from interrupting the platoon of vehicles; wherein saidindividual platoon vehicle controls control the respective platoonvehicles to maneuver the platoon vehicles to the other traffic laneresponsive to a determination of a vehicle or obstacle in the initialtraffic lane ahead of the platoon of vehicles; and wherein, responsiveto a wireless communication from another vehicle that is approaching theplatoon of vehicles to join the platoon of vehicles, said platooncontrol communicates to the individual platoon vehicle controls of therespective platoon vehicles and, responsive to that communication fromsaid platoon control, said individual platoon vehicle controls of atleast some of the platoon vehicles control the respective platoonvehicles to create a gap between two of the platoon vehicles toaccommodate the other vehicle in the platoon of vehicles at the gap. 19.The platoon control system of claim 18, wherein, responsive to wirelesscommunication from the individual platoon vehicle control of the middleplatoon vehicle that is indicative of the middle platoon vehicledeparting from the platoon of vehicles, said platoon controlcommunicates to the individual platoon vehicle controls of the remainingplatoon vehicles and, responsive to that communication from said platooncontrol, said individual platoon vehicle control of at least one of theremaining platoon vehicles controls the at least one respective platoonvehicle to regroup the platoon of vehicles and close a gap caused by thedeparture of the middle platoon vehicle.
 20. The platoon control systemof claim 18, wherein the wireless communications comprisecloud-telematics communications.
 21. The platoon control system of claim18, wherein, responsive to a communication from said platoon control,said individual platoon vehicle controls control the respective platoonvehicles so that the platoon vehicles enter the other traffic lane in adifferent order than they were in the initial traffic lane.
 22. Theplatoon control system of claim 21, wherein the middle platoon vehiclecomprises a first middle platoon vehicle following the lead platoonvehicle when the platoon of vehicles is traveling in the initial trafficlane, and wherein the platoon of vehicles comprises (i) a second middleplatoon vehicle following the first middle platoon vehicle when theplatoon of vehicles is traveling in the initial traffic lane and (ii) athird middle platoon vehicle following the second middle platoonvehicle, and wherein the last platoon vehicle follows the third middleplatoon vehicle when the platoon of vehicles is traveling in the initialtraffic lane.
 23. The platoon control system of claim 22, wherein,responsive to a communication from said platoon control, said individualplatoon vehicle controls control the respective platoon vehicles so thatthe last platoon vehicle and one or more of the middle platoon vehiclesahead of the last platoon vehicle enter the other traffic lane, andwherein the speeds of the respective platoon vehicles are controlled togenerate gaps between the platoon vehicles that have moved into theother traffic lane and to align the platoon vehicles in the initialtraffic lane with the gaps, and wherein, when the platoon vehicles thatare in the initial traffic lane are aligned with the gaps, saidindividual platoon vehicle controls of the respective platoon vehiclesin the initial traffic lane control those platoon vehicles to enter theother traffic lane in the gaps.
 24. The platoon control system of claim23, wherein said individual platoon vehicle controls adjust the speedsof the respective platoon vehicles to allow traffic in the other trafficlane ahead of the last platoon vehicle after the last platoon vehiclehas changed traffic lanes to pass the platoon vehicles and to align theplatoon vehicles remaining in the initial traffic lane with respectivegaps between the platoon vehicles that have moved into the other trafficlane.
 25. The platoon control system of claim 18, wherein thedetermination of the vehicle or obstacle in the initial traffic laneahead of the platoon of vehicles is responsive to at least one of (i) along range sensing system of the lead platoon vehicle and (ii) avehicle-to-vehicle communication system.
 26. The platoon control systemof claim 18, wherein the determination of the vehicle or obstacle in theinitial traffic lane ahead of the platoon of vehicles is made by saidplatoon control.
 27. A platoon control system for controlling aplurality of vehicles traveling together as a platoon of vehicles, saidplatoon control system comprising: a platoon control in wirelesscommunication with a plurality of individual platoon vehicle controls; aplatoon vehicle control disposed at a respective platoon vehicle of aplatoon of vehicles traveling along an initial traffic lane; wherein theplatoon of vehicles comprises at least (i) a lead platoon vehicle, (ii)a first middle platoon vehicle following the lead platoon vehicle, (iii)a second middle platoon vehicle following the first middle platoonvehicle, (iv) a third middle platoon vehicle following the second middleplatoon vehicle and (v) a last platoon vehicle following the thirdmiddle platoon vehicle; wherein at least one sensor is disposed at eachplatoon vehicle of the platoon of vehicles for sensing a region ofanother traffic lane immediately adjacent to the initial traffic lane todetermine if another vehicle is present in the other traffic lane at ornear the respective platoon vehicle; wherein, responsive to wirelesscommunications from said individual platoon vehicle controls that areindicative of the at least one sensor disposed at the respective platoonvehicles sensing the region of the other traffic lane, said platooncontrol determines if the platoon of vehicles can change lane to theother traffic lane; wherein, responsive to said platoon controldetermining that the platoon of vehicles can change lane to the othertraffic lane, said platoon control communicates control signals to saidindividual platoon vehicle controls; wherein, responsive tocommunication from said platoon control, said individual platoon vehiclecontrols control the respective platoon vehicles so that the lastplatoon vehicle and one or more of the middle platoon vehicles ahead ofthe last platoon vehicle enter the other traffic lane; wherein saidindividual platoon vehicle controls adjust the speeds of the respectiveplatoon vehicles to allow traffic in the other traffic lane ahead of thelast platoon vehicle after the last platoon vehicle has changed lanes topass the platoon vehicles and to align the platoon vehicles remaining inthe initial traffic lane with respective gaps between the platoonvehicles that have moved into the other traffic lane; wherein the speedsof the respective platoon vehicles are controlled to generate gapsbetween the platoon vehicles that have moved into the other traffic laneand to align the platoon vehicles that are in the initial traffic lanewith the gaps; and wherein, when the platoon vehicles in the initialtraffic lane are aligned with the gaps, said individual platoon vehiclecontrols of the respective platoon vehicles in the initial traffic lanecontrol those platoon vehicles to enter the other traffic lane in thegaps.
 28. The platoon control system of claim 27, wherein, responsive towireless communication from the individual platoon vehicle control ofone of the middle platoon vehicles that is indicative of that middleplatoon vehicle departing from the platoon of vehicles, said platooncontrol communicates to the individual platoon vehicle controls of theremaining platoon vehicles and, responsive to that communication fromsaid platoon control, said individual platoon vehicle control of atleast one of the remaining platoon vehicles controls the at least onerespective platoon vehicle to regroup the platoon of vehicles and closea gap caused by the departure of the middle platoon vehicle, andwherein, responsive to a wireless communication from another vehiclethat is approaching the platoon of vehicles to join the platoon ofvehicles, said platoon control communicates to the individual platoonvehicle controls of the respective platoon vehicles and, responsive tothat communication from said platoon control, said individual platoonvehicle controls of at least some of the platoon vehicles control therespective platoon vehicles to create a gap between two of the platoonvehicles to accommodate the other vehicle in the platoon of vehicles atthe gap.
 29. The platoon control system of claim 27, wherein thewireless communications comprise cloud-telematics communications. 30.The platoon control system of claim 27, wherein said individual platoonvehicle controls control the respective platoon vehicles to maneuver theplatoon vehicles to the other traffic lane responsive to a determinationof a vehicle or obstacle in the initial traffic lane ahead of theplatoon of vehicles.
 31. The platoon control system of claim 30, whereinthe determination of the vehicle or obstacle in the initial traffic laneahead of the platoon of vehicles is responsive to at least one of (i) along range sensing system of the lead platoon vehicle and (ii) avehicle-to-vehicle communication system.
 32. The platoon control systemof claim 30, wherein the determination of the vehicle or obstacle in theinitial traffic lane ahead of the platoon of vehicles is made by saidplatoon control.
 33. The platoon control system of claim 27, whereinsaid platoon control is disposed at one of the platoon vehicles.